Novel Hyper-Redundant Manipulator-. Design, Study and Experiment

A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box.     

Disaster Reduction Decision Support System Against Debris Flows and Landslides Along Highway in Mountainous Area

Highways in mountainous areas are easy to be damaged by such natural disasters as debris flows and landslides and disaster reduction decision support system (DRDSS) is one of the important means to mitigate these disasters. Guided by the theories and technologies of debris flow and landslide reduction and supported by geographical information system (GIS), remote sensing and database techniques, a DRDSS against debris flow and landslide along highways in mountainous areas has been established on the basis of such principles as pertinence, systematicness, effectiveness, easy to use, open and expandability. The system consists of database, disaster analysis models and decisions on reduction of debris flows and landslides, mainly functioning to zone disaster dangerous degree, analyze debris flow activity,simulate debris flow deposition and diffusion, analyze landslide stability, select optimal highway renovation scheme and plan disaster prevention and control ergineering. This system has been applied successfully to the debris flow and landslide treatment works along Palongzangbu Section of Sichuan-Tibet Highway.     

Effects of hyaluronic acid－chitosan－gelatin complex on the apoptosis and cell cycle of L929 cells

With the development in the field of tissue engineering, the interaction between biomaterials and cells has been deeply studied. Viewing the cells seeded on the surface of materials as an organic whole, cell cycle and apoptosis are analyzed to deepen the study of cell compatibility on biomaterials, while cell proliferation and differentiation are studied at the same time. In this paper, hyaluronic acid is incorporated into the chitosan-gelatin system. Propidium iodide (PI) was used in cell cycle analysis and the double-staining of cells with annexin-V and PI was applied in cell apoptosis analysis. The results show that incorporated hyaluronic acid shortens the adaptation period of cells on the material surface, and then cells enter the normal cell cycle quickly. In addition, added hyaluronic acid inhibits cell apoptosis triggered by the membranes. Therefore, hyaluronic acid improves the cell compatibility of chitosan-gelatin system and benefits the design of biomimetic materials.     

发动机怠速稳定性控制方法的分析研究

从提高发动机经济性和降低有害排放物质的角度出发，讨论了发动机怠速控制方法，对用PID控制，模糊控制，模糊－PID控制方法进行深入分析研究，并给出3种控制方法的仿真结果，模糊控制完全可用于发动机ECU的怠速控制。     

空间矢量PWM算法及波形分析

对空间矢量PWM算法进行了分析，提出了比较直观且适于操作的具体计算公式。同时，从中央处理器DSP功能模块易于实现的目的出发，进一步转化为用时间常数表达的形式。最后，通过对不同调制比下的PWM波形品质进行对比，得出调制比为奇数或偶数不是唯一影响波形质量因素的结论。     

论高校科协在科技创新中的地位与作用

从高校科协在高校科技工作中的定位问题展开讨论,在分析高校科协的性质与特点的基础上,探讨高校科协的任务、地位及在促进科技创新过程中发挥的重要作用。     

对高职院校实验室管理模式的探讨

在目前高职院校资金不能满足各系部对专业实验、实训设备要求的情况下，资金的最优使用显得尤为重要。为保证实验设备和人员的顺利流动，做到最大限度的资源共享，就必须改革现行实验室管理体制，建立新型两级化管理制度，遵守垂直管理，平行使用的原则。     

仙客来(Cyclamen Persicum Mill)胚性愈伤形态和组织结构的动态观察

用仙客来（Cyclamen persicum Mill)成苗叶柄作为外植体，培养在附加2，4－D和KT的1／2MS培养基上诱导体细胞胚性愈伤组织的发生，对体细胞胚性愈伤组织发生过程中外部形态和组织细胞学结构进行了 动态观察。结果表明，叶柄组织发化的起始部位在维管束的维管束鞘细胞，启动时间是培养后2d；叶柄外植体培养至20d左右，愈伤组织呈松散透明状态，胚性细胞出现，标志着进入胚性愈伤组织阶段，胚性细胞多发生在所形成的愈伤组织的表层或近表层细胞，细胞大而壁薄，与非胚性细胞联系疏松，细胞核大，并位于细胞中央，细胞质浓厚，分别观察有单细胞、二分体和四分体状态。     

牡丹江地区满山红叶中槲皮素的含量测定

用HPLC方法对牡丹江地区几个产地、不同采收期满山红叶中槲皮素的含量进行测定 ,结果发现 9、1 0月份采收的满山红叶中槲皮素含量较高 ,为满山红资源的合理应用提供了可靠数据